Temperature estimation and tissue detection of an ultrasonic dissector from frequency response monitoring

ABSTRACT

An ultrasonic surgical apparatus and method, the apparatus including a signal generator outputting a drive signal having a frequency, an oscillating structure, receiving the drive signal and oscillating at the frequency of the drive signal, and a bridge circuit, detecting the mechanical motion of the oscillating structure and outputting a signal representative of the mechanical motion. The ultrasonic surgical apparatus also includes a microcontroller receiving the signal output by the bridge circuit, the microcontroller determining an instantaneous frequency at which the oscillating structure is oscillating based on the received signal, and determining a frequency adjustment necessary to maintain the oscillating structure oscillating at its resonance frequency, the microcontroller further determining the quality (Q value) of the signal received from the bridge circuit and determining material type contacting the oscillating structure.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims the benefit of U.S. Provisional PatentApplication Ser. No. 61/658,067 filed Jun. 11, 2012; U.S. ProvisionalPatent Application Ser. No. 61/658,045 filed Jun. 11, 2012 now U.S.patent application Ser. No. ______; and U.S. Provisional PatentApplication Ser. No. 61/658,081 filed Jun. 11, 2012 now U.S. patentapplication Ser. No. ______. The entire contents of thesecross-referenced applications are incorporated by reference herein.

BACKGROUND

1. Technical Field

The present disclosure relates generally to an ultrasonic surgicalinstrument and, more particularly, relates to estimating the temperatureof the ultrasonic surgical instrument and distinguishing the type oftissue engaged by the ultrasonic surgical instrument.

2. Background of the Related Art

Ultrasonic instruments are effectively used in the treatment of manymedical conditions, such as removal of tissue and the cauterization andsealing of vessels. Cutting instruments that utilize ultrasonic wavesgenerate vibrations with an ultrasonic transducer along a longitudinalaxis of a cutting blade. By placing a resonant wave along the length ofthe blade, high-speed longitudinal mechanical movement is produced atthe end of the blade. These instruments are advantageous because themechanical vibrations transmitted to the end of the blade are veryeffective at cutting organic tissue and, simultaneously, coagulate thetissue using the heat energy produced by the ultrasonic frequencies.Such instruments are particularly well suited for use in minimallyinvasive procedures, such as endoscopic or laparoscopic procedures,where the blade is passed through a trocar to reach the surgical site.

For each kind of cutting blade (e.g., length, material, size), there areone or more (periodic) drive signals that produce a resonance along thelength of the blade. Resonance results in optimal movement of the bladetip and, therefore, optimal performance during surgical procedures.However, producing an effective cutting-blade drive signal is not atrivial task. For instance, the frequency, current, and voltage appliedto the cutting tool must all be controlled dynamically, as theseparameters change with the varying load placed on the blade and withtemperature differentials that result from use of the tool.

Detection of the temperature of the cutting blade and other points alongan ultrasonic surgical instrument can be useful for a variety ofreasons, including use as a feedback mechanism for control of theultrasonic instrument. Moreover, because ultrasonic instruments of thetype contemplated by this disclosure may be used in endoscopic andlaparoscopic surgeries, where the surgeon's ability to sense what ishappening at the blade of the ultrasonic instrument is limited,providing temperature information ensures necessary procedures may beemployed by the surgeon to achieve optimal surgical results.

Temperature measurements have traditionally been taken by thermocouplesplaced near the blade at the distal end of the surgical instrument.However, thermocouples require separate attachment to the ultrasonicsurgical instrument, which can present problems. Even when attached,thermocouples require at minimum two wires (comprised at least in partof dissimilar metals) leading from the hot junction of the thermocouplealong the length of the device to a volt-meter and processingcomponents.

Current systems for identifying tissue rely on either high cost scanningmechanisms including ultrasound, CAT, and MRI, or lower cost, butlimited to field of view, methods such as optical imaging through alaparoscope.

Thus, there is a need for improved methods of temperature detection ofan ultrasonic surgical instrument and further a need for improvedmethods of tissue type detection.

SUMMARY

One aspect of the present disclosure is directed to an ultrasonicsurgical apparatus including a signal generator outputting a drivesignal having a frequency, an oscillating structure, receiving the drivesignal and oscillating at the frequency of the drive signal, and abridge circuit, detecting the mechanical motion of the oscillatingstructure and outputting a signal representative of the mechanicalmotion. The ultrasonic surgical apparatus also includes amicrocontroller receiving the signal output by the bridge circuit, themicrocontroller determining an instantaneous frequency at which theoscillating structure is oscillating based on the received signal, anddetermining a frequency adjustment necessary to maintain the oscillatingstructure oscillating at its resonance frequency, the microcontrollerfurther determining the quality (Q value) of the signal received fromthe bridge circuit and determining material type contacting theoscillating structure.

According to a further aspect of the disclosure the determined Q valueis compared to Q values stored in memory to determine the material incontact with the oscillating structure. The Q values stored in memorydistinguishes between material types selected from the group consistingof wet tissue, dry tissue, dense tissue, bone, and metal objects. Thedetermined Q value may take into account clamping pressure applied tothe material by an end effector at the end of the oscillating structure.Further the detected specific Q value may result in a determination thata blade portion of the ultrasonic surgical apparatus is contacting anend effector of the oscillating structure.

A further aspect of the present disclosure is directed to a method ofdetermining the determining the type of material an ultrasonic surgicalapparatus is contacting including generating a drive signal andsupplying the drive signal to an oscillating structure, detecting themechanical motion of the oscillating structure and generating a signalrepresentative of the mechanical motion, and processing the signalrepresentative of the mechanical motion to determine determining aninstantaneous frequency at which the oscillating structure isoscillating based on the received signal. The method also includesgenerating a frequency adjustment necessary to maintain the oscillatingstructure oscillating at its resonance frequency; and determining thequality (Q value) of the signal received from the bridge circuit toidentify the material contacting the oscillating structure.

According to a further aspect of the present disclosure the determined Qvalue is compared to Q values stored in memory to determine the materialin contact with the oscillating structure. The Q values may be stored inmemory and distinguish between material types selected from the groupconsisting of wet tissue, dry tissue, dense tissue, bone, and metalobjects. Further the determined Q value may take into account clampingpressure applied to the material by an end effector at the end of theoscillating structure. Still further upon detecting a specific Q valuethe ultrasonic surgical apparatus may determine that a blade portion ofthe ultrasonic surgical apparatus is contacting an end effector of theultrasonic surgical apparatus.

BRIEF DESCRIPTION OF THE DRAWINGS

Various embodiments of the subject instrument are described herein withreference to the drawings wherein:

FIG. 1 is a diagrammatic illustration of components of an ultrasonicsurgical system with separate power, control, drive and matchingcomponents in block diagram form;

FIG. 2 is a diagram illustrating the ultrasonic surgical system of FIG.1;

FIG. 2A is a diagram illustrating an ultrasonic surgical instrument inaccordance with an exemplary embodiment of the present disclosure;

FIG. 3 is a block circuit diagram of an ultrasonic surgical instrumentin accordance with an exemplary embodiment of the present disclosure;

FIG. 4 is a circuit diagram of an elemental series circuit model for atransducer in accordance with an exemplary embodiment of the presentdisclosure;

FIG. 5 is a circuit diagram incorporating the transducer of FIG. 4 formonitoring a motional current of a transducer in accordance with anexemplary embodiment of the present disclosure;

FIG. 6 is a circuit diagram of an elemental parallel circuit model of atransducer in accordance with an exemplary embodiment of the presentdisclosure;

FIG. 7 is circuit diagram incorporating the transducer of FIG. 6 formonitoring the motional current of a transducer in accordance with anexemplary embodiment of the present disclosure;

FIG. 8 is a circuit diagram incorporating the transducer of FIG. 4 formonitoring the motional current of a transducer in accordance with anexemplary embodiment of the present disclosure;

FIG. 9 is a circuit diagram incorporating the transducer of FIG. 6 formonitoring the motional current of a transducer in accordance with anexemplary embodiment of the present disclosure;

FIG. 10 is a diagrammatic illustration of the components of anultrasonic surgical system of FIG. 2A having integrated power, control,drive and matching components in block diagram form in accordance withan exemplary embodiment of the present disclosure;

FIG. 11 is a Bode plot of the frequency response of an ultrasonicsurgical instrument associated with heating as compared to phase inaccordance with an exemplary embodiment of the present disclosure;

FIG. 12 is a Bode plot of the frequency response of an ultrasonicsurgical instrument associated with heating as compared to impedance inaccordance with an exemplary embodiment of the present disclosure;

FIG. 13 is a simplified start-up routine for acquiring a resonantfrequency of an ultrasonic surgical instrument in accordance with anexemplary embodiment of the present disclosure;

FIG. 14 is a flow diagram of a system for detecting the temperature ofan ultrasonic surgical instrument as a function of frequency response inaccordance with an exemplary embodiment of the present disclosure;

FIG. 15 is an enlarged profile view of a portion of a wave guide and ablade of an ultrasonic surgical instrument including resonators inaccordance with an exemplary embodiment of the present disclosure;

FIG. 16 is a Bode plot depicting the difference in Quality “Q” of anultrasonic surgical instrument when operating in air and when graspingtissue with respect to phase in accordance with an exemplary embodimentof the present disclosure; and

FIG. 17 is a Bode plot depicting the difference in Q of an ultrasonicsurgical instrument when operating in air and when grasping tissue withrespect to impedance in accordance with an exemplary embodiment of thepresent disclosure.

DETAILED DESCRIPTION

Particular embodiments of the present disclosure are described hereinbelow with reference to the accompanying drawings. In the followingdescription, well-known functions or constructions are not described indetail to avoid obscuring the present disclosure in unnecessary detail.

It is to be understood that the disclosed embodiments are merelyexemplary of the disclosure, which can be embodied in various forms.Therefore, specific structural and functional details disclosed hereinare not to be interpreted as limiting, but merely as a basis for theclaims and as a representative basis for teaching one skilled in the artto variously employ the present disclosure in virtually anyappropriately detailed structure. Further, the terms and phrases usedherein are not intended to be limiting; but rather, to provide anunderstandable description of the disclosure.

Before the present disclosure is disclosed and described, it is to beunderstood that the terminology used herein is for the purpose ofdescribing particular embodiments only and is not intended to belimiting. In this document, the terms “a” or “an”, as used herein, aredefined as one or more than one. The term “plurality,” as used herein,is defined as two or more than two. The term “another,” as used herein,is defined as at least a second or more. The terms “including” and/or“having,” as used herein, are defined as comprising (i.e., openlanguage). The term “coupled,” as used herein, is defined as connected,although not necessarily directly, and not necessarily mechanically.Relational terms such as first and second, top and bottom, and the likemay be used solely to distinguish one entity or action from anotherentity or action without necessarily requiring or implying any actualsuch relationship or order between such entities or actions. The terms“comprises,” “comprising,” or any other variation thereof are intendedto cover a non-exclusive inclusion, such that a process, method,article, or apparatus that comprises a list of elements does not includeonly those elements but may include other elements not expressly listedor inherent to such process, method, article, or apparatus. An elementproceeded by “comprises . . . a” does not, without more constraints,preclude the existence of additional identical elements in the process,method, article, or apparatus that comprises the element.

As used herein, the term “about” or “approximately” applies to allnumeric values, whether or not explicitly indicated. These termsgenerally refer to a range of numbers that one of skill in the art wouldconsider equivalent to the recited values (i.e., having the samefunction or result). In many instances these terms may include numbersthat are rounded to the nearest significant figure. In this document,the term “longitudinal” should be understood to mean in a directioncorresponding to an elongated direction of the object being described.Finally, as used herein, the terms “distal” and “proximal” areconsidered from the vantage of the user or surgeon, thus the distal endof a surgical instrument is that portion furthest away from the surgeonwhen in use, and the proximal end is that portion generally closest tothe user.

It will be appreciated that embodiments of the disclosure describedherein may be comprised of one or more conventional processors andunique stored program instructions that control the one or moreprocessors to implement, in conjunction with certain non-processorcircuits and other elements, some, most, or all of the functions ofultrasonic surgical instruments described herein. The non-processorcircuits may include, but are not limited to, signal drivers, clockcircuits, power source circuits, and user input and output elements.Alternatively, some or all functions could be implemented by a statemachine that has no stored program instructions, in one or moreapplication specific integrated circuits (ASICs), in which each functionor some combinations of certain of the functions are implemented ascustom logic, or in a field-programmable gate array (FPGA) enabling theuse of updateable custom logic either by the manufacturer or the user.Of course, a combination of the three approaches could also be used.Thus, methods and means for these functions have been described herein.

The terms “program,” “software application,” and the like as usedherein, are defined as a sequence of instructions designed for executionon a computer system. A “program,” “computer program,” or “softwareapplication” may include a subroutine, a function, a procedure, anobject method, an object implementation, an executable application, anapplet, a servlet, a source code, an object code, a sharedlibrary/dynamic load library and/or other sequence of instructionsdesigned for execution on a computer system.

FIG. 1 shows a block schematic diagram of a known circuit used forapplying ultrasonic mechanical movements to an end effector. The circuitincludes a power source 102, a control circuit 104, a drive circuit 106,a matching circuit 108, a transducer 110, and also includes a handpiece112, and a waveguide 114 secured to the handpiece 112 (diagrammaticallyillustrated by a dashed line) and supported by a cannula 120. Thewaveguide 114 terminates to a blade 118 at a distal end thereof. Thetransducer 110, waveguide 114, and blade 118 form an oscillatingstructure that generally resonates at the same frequency. A clampingmechanism referred to as an “end effector” 117, exposes and enables theblade portion 118 of the waveguide 114 to make contact with tissue andother substances. Commonly, the end effector 117 is a pivoting arm thatacts to grasp or clamp onto tissue between the arm and the blade 118.However, in some devices, the end effector 117 is not present.

The drive circuit 104 produces a high-voltage self-oscillating signal.The high-voltage output of the drive circuit 104 is fed to the matchingcircuit 108, which contains signal-smoothing components that, in turn,produce a drive signal (wave) that is fed to the transducer 110. Theoscillating input to the transducer 110 causes the mechanical portion ofthe transducer 110 to move back and forth at a magnitude and frequencythat sets up a resonance along the waveguide 114. For optimal resonanceand longevity of the resonating instrument and its components, the drivesignal applied to the transducer 110 should be as smooth a sine wave ascan practically be achieved. For this reason, the matching circuit 108,the transducer 110, and the waveguide 114 are selected to work inconjunction with one another and are all frequency sensitive with and toeach other.

Because a relatively high-voltage (e.g., 100 V or more) is required todrive a typical piezoelectric transducer 110, one commonly used powersource is an electric mains (e.g., a wall outlet) of, typically, up to15 A, 120 VAC. Therefore, many known ultrasonic surgical instrumentsresemble that shown in FIGS. 1 and 2 and utilize a countertop box 202with an electrical cord 204 to be plugged into the electrical mains 206for supply of power. Resonance is maintained by a phase locked loop(PLL), which creates a closed loop between the output of the matchingcircuit 108 and the drive circuit 106. For this reason, in prior artdevices, the countertop box 202 always has contained all of the driveand control electronics 104, 106 and the matching circuit(s) 108. Asupply cord 208 delivers a sinusoidal waveform from the box 202 to thetransducer 110 within the handpiece 112 and, thereby, to the waveguide114. Resonance is often at varying waveguide 114 load conditions bymonitoring and maintaining a constant current applied to the transducer.

FIG. 3 depicts a block diagram of an ultrasonic surgical instrument 300according to one embodiment of the present disclosure. In FIG. 3 theultrasonic surgical instrument 300 includes a microprocessor 302, aclock 330, a memory 326, a power supply 304 (e.g., a battery), a switch306 (e.g., one or more a MOSFETs), a drive circuit 308 (PLL), atransformer 310, a signal smoothing circuit 312 (also referred to as amatching circuit and can be, e.g., a tank circuit), a sensing circuit314, a transducer 316, and a waveguide 320, which terminates into anultrasonic cutting blade 318. As used herein, the“waveguide-movement-generation assembly” is a sub-assembly including atleast the transducer 316, but can also include other components, such asthe drive circuit 308 (PLL), transformer 310, signal smoothing circuit312, and/or the sensing circuit 314.

As an alternative to relying on AC mains 206 as depicted in FIG. 2, theembodiment shown in FIG. 3 employs power derived from only a battery, ora group of batteries, small enough to fit either within the handpiece112 or within a small box that attaches to the user, for example, at awaistband. State-of-the-art battery technology provides powerfulbatteries of a few centimeters in height and width and a few millimetersin depth.

In the embodiment of FIG. 3, the output of the battery 304 is fed to andpowers the processor 302. The processor 302 receives and outputs signalsand, as will be described below, functions according to custom logic orin accordance with computer programs that are executed by the processor302. The device 300 can also include a main memory 326, preferably,random access memory (RAM), that stores computer-readable instructionsand data.

The output of the battery 304 also goes to a switch 306 that has a dutycycle controlled by the processor 302. By controlling the on-time forthe switch 306, the processor 302 is able to dictate the total amount ofpower that is ultimately delivered to the transducer 316. In oneembodiment, the switch 306 is an electrically controlledmetal-oxide-semiconductor field-effect transistor (MOSFET), althoughother switches, field-effect transistors (FET's) and switchingconfigurations are adaptable as well. Moreover, those of skill in theart will recognize that though described singularly, switch 306 mayemploy 2 or more MOSFETs. The output of the switch 306 is fed to a drivecircuit 308 that contains, for example, a phase detecting PLL and/or alow-pass filter and/or a voltage-controlled oscillator. The output ofthe switch 306 is sampled by the processor 302 to determine the voltageand current of the output signal (referred to in FIG. 3 respectively asAD2 Vin and AD3 Iin). These values are used in a feedback architectureto adjust the pulse width modulation of the switch 306. For instance,the duty cycle of the switch 306 can vary from about 20% to about 80%,depending on the desired and actual output from the switch 306.

The drive circuit 308, which receives the signal from the switch 306,includes an oscillatory circuit that turns the output of the switch 306into an electrical signal having a single ultrasonic frequency, e.g., 55kHz (referred to as VCO in FIG. 3). As will be explained below, asmoothed-out version of this ultrasonic waveform is ultimately fed tothe transducer 316 to produce a resonant sine wave along the waveguide320. Resonance is achieved when current and voltage are substantially inphase at the input of the transducer 316. For this reason, the drivecircuit 308 uses a PLL to sense the current and voltage input to thetransducer 316 and to synchronize the current and voltage with oneanother. This sensing is performed over line 328, wherein the currentphase is matched with a phase of the “motional” voltage and/or matchesthe input voltage phase with a phase of the “motional” current. Theconcept and technique of measuring motional voltage will be explained indetail below and in conjunction with the figures.

At the output of the drive circuit 308 is a transformer 310 able to stepup the low voltage signal(s) to a higher voltage. It is noted that allupstream switching, prior to the transformer 310, has been performed atlow (i.e., battery driven) voltages. This is at least partially due tothe fact that the drive circuit 308 advantageously uses lowon-resistance MOSFET switching devices. Low on-resistance MOSFETswitches are advantageous, as they produce less heat than traditionalMOSFET device and allow higher current to pass through. Therefore, theswitching stage (pre transformer) can be characterized as lowvoltage/high current.

In one embodiment of the present disclosure, the transformer 310 stepsup the battery voltage to 120V RMS. Transformers are known in the artand are, therefore, not explained here in detail. The output of thetransformer 310 resembles a square wave 400, which waveform isundesirable because it is injurious to certain components, inparticular, to the transducer 316. The square wave also generatesinterference between components. The matching circuit 312 of the presentdisclosure substantially reduces or eliminates these problems.

The wave shaping or matching circuit 312 sometimes referred to as a“tank circuit,” smoothes the square wave output from the transformer 310and turns the wave into a driving wave (e.g., a sine wave). The matchingcircuit 312, in one embodiment of the present disclosure, is a seriesL-C circuit and is controlled by the well-known principles of Kirchhoffscircuit laws. However, any matching circuit can be used here. The smoothsine wave 500 output from the matching circuit 312 is, then, fed to thetransducer 316. Of course, other drive signals can be output from thematching circuit 312 that are not smooth sine waves.

A transducer 316 is an electromechanical device that converts electricalsignals to physical movement, one example of such a device is formed ofa stack of piezo-electric crystals. In a broader sense, a transducer 316is sometimes defined as any device that converts a signal from one formto another. In the present disclosure, the driving wave (sine wave) isinput to the transducer 316, which then imparts physical movements tothe waveguide 320. As will be shown, this movement sets up a resonatingwave on the waveguide 320, resulting in motion at the end of thewaveguide 320.

In the exemplary embodiment where the transducer 316 is formed of astack of piezo-electric crystals, each piezo-electric crystal isseparated from the next by an insulator. The piezo-electric crystalschange their longitudinal dimension with the simultaneous sinusoidalvoltage applied to all the crystals such that the stack expands andcontracts as a unit. These expansions and contractions are at thefrequency of the drive signal produced by the driving circuit 308. Themovement of the transducer 316 induces a sinusoidal wave along thelength of the waveguide 320 thereby longitudinally moving the tip blade318 the waveguide 320. The blade 318 tip is ideally at an “anti-node,”as it is a moving point of the sine wave. The resulting movement of thewaveguide 320 produces a “sawing” movement in the blade 318 at the endof the waveguide 320 providing a cutting motion that is able to sliceeasily through many materials, such as tissue and bone. The waveguide320 also generates a great deal of frictional heat when so stimulated,which heat is conducted within the tissue that the waveguide 320 iscutting. This heat is sufficient to cauterize instantly blood vesselswithin the tissue being cut.

If the drive signal applied to the transducer 316 and traveling alongthe waveguide 320 is not at the resonant frequency for the ultrasonicsurgical instrument, the last anti-node will not appear at the blade 318of the waveguide 320. In such a case, the blade 318 of the waveguide 320may move transverse to the longitudinal axis of the waveguide 320. Whileoff resonant motion of the blade 318 is generally not desirable, incertain applications such off resonance motion may be desirable forcertain periods of time and to achieve certain surgical outcomes.

The present disclosure utilizes the PLL in the drive circuit 308 toensure that the movement of the waveguide 320 remains resonant along thewaveguide 320 by monitoring the phase between the motional current andmotional voltage waveforms fed to the transducer 316 and sending acorrection signal back to the drive circuit 308. In certain embodiments,the transducer 316 may be cut in a different plane, thereby creating atorsional or twisting motion of the blade rather than only a sawingmotion.

FIG. 2A depicts a further device in which embodiments of the presentdisclosure may be implemented, showing a battery operated hand heldultrasonic surgical device 250. As with the embodiments shown in FIGS. 1and 2, the distal end (i.e. the end of the device furthest away from theuser while in use) of the ultrasonic surgical instrument 250 includes anend effector 117 which incorporates a blade portion 118. The endeffector 117 and blade 118 are formed at the distal end of the cannula120 which encloses a waveguide 114, but formed within cannula 120, andconnecting to the blade 118.

Power for the ultrasonic surgical device 250 is provided by a battery252. In the example depicted in FIG. 2A the battery is formed as anintegral component of the ultrasonic surgical device 250. Specificallythe battery 252, when connected to the rest of the device, forms thehandle. In an alternative arrangement the battery may be removablyhoused within a compartment of the handle. A variety of alternativearrangements for the battery and its incorporation into the ultrasonicsurgical instrument 250 are described in detail in commonly assignedU.S. application Ser. No. 12/269,629, filed Nov. 12, 2008, andincorporated fully herein by reference. The battery itself is formed ofone or more rechargeable cells. For example, the battery may includefour cells connected in series having a nominal voltage of approximately3.7 V/cell, resulting in a nominal battery voltage of approximately 15V. The battery 252 may be a so called “Smart Battery” meaning that manyof its functions including how it is charged and discharged iscontrolled by one or more a microcontrollers connected to the cellswithin the housing of the battery 252 as described in the Smart BatteryData Specification, Revision 1.1, first published Dec. 11, 1998 by theSmart Battery System Implementers Forum (SBS-IF).

An integrated transducer and generator (TAG) component 256 houses both agenerator and a transducer. Like the battery 252, the TAG 256 isremovably connected to the ultrasonic surgical instrument 250. Thus, insome embodiments only the battery 252 and the TAG 256 are reusable andthe remainder of the ultrasonic surgical device 250 (including cannula120, waveguide 114, and end effector 117) is disposable. With respect toFIG. 2A, the generator portion of the TAG 256 takes DC energy from thebattery 252 and converts it to AC (i.e., a sinusoidal form) and controlsthe converted energy to power the ultrasonic transducer portion of theTAG 256 and therewith drive the waveguide 114 formed within the cannula120 and ultimately the blade 118, as described above with respect toFIG. 3, or as will be discussed in greater detail below with referenceto FIG. 10.

The end effector is operated by an actuator mechanism 254. Pulling theactuator 254 in the direction of the battery 252 (i.e., proximally)causes the end effector 117 to close, for example to trap tissue in theend effector 117. After clamping tissue in the end effector 117, a userpresses the trigger 258 to cause power to be delivered from the batteryto the TAG 256 and start it oscillating. The TAG 256 transfers itsoscillatory motion to the waveguide 114 housed in the cannula 120 to theblade 118, causing the blade 118 to vibrate near or at the resonantfrequency of the ultrasonic surgical instrument 250 in order to cut,seal or coagulate tissue clamped in the end effector 117. The transducerportion of the TAG 256 in combination with the waveguide 114 and theblade 118 together form an oscillating structure.

FIG. 4 is a schematic circuit diagram of a model transducer 400, such astransducer 316 or the transducer portion of TAG 256, which containspiezo-electric material. Piezo-electric transducers are well known inthe art. The mass and stiffness of the piezo-electric material creates amechanically resonant structure within the transducer. Due to thepiezo-electric affect, these mechanical properties manifest themselvesas electrically equivalent properties. In other words, the electricalresonant frequency seen at the electrical terminals is equal to themechanical resonant frequency. As shown in FIG. 4, the mechanical mass,stiffness, and damping of the transducer 316 may be represented by aseries configuration of an inductor/coil L, a capacitor C₂, and aresistor R, all in parallel with another capacitor C₁. The electricalequivalent transducer model 400 is quite similar to the well-known modelfor a crystal.

Flowing into an input 410 of the electrical equivalent transducer model400 is a transducer current i_(T). A portion i_(C) of i_(T) flows acrossthe parallel capacitor C₁, which for the majority of the expectedfrequency range, retains a substantially static capacitive value. Theremainder of i_(T), which is defined as i_(M), is simply (i_(T)−i_(C))and is the actual working current. This remainder current i_(M) isreferred to herein as the “motional” current. That is, the motionalcurrent is that current actually performing the work to move thewaveguide 320.

As discussed above, some known designs regulate and synchronize with thetotal current i_(T), which includes i_(C) and is not necessarily anindicator of the actual amount of current actually causing the motion ofthe waveguide 320 of the transducer 316. For instance, when the blade ofa prior-art device moves from soft tissue, to more dense material, suchas other tissue or bone, the resistance R increases greatly. Thisincrease in resistance R causes less current i_(M) to flow through theseries configuration R-L-C₂, and more current i_(C) to flow acrosscapacitive element C₁. In such a case, the waveguide 320 slows down,degrading its performance. It may be understood by those skilled in theart that regulating the overall current is not an effective way tomaintain a constant waveguide speed (i.e. vibrating at resonance). Assuch, one embodiment of the present disclosure monitors and regulatesthe motional current i_(M) flowing through the transducer 316. Byregulating the motional current i_(M), the movement distance of thewaveguide 320 can be regulated.

FIG. 5 is a schematic circuit diagram of an inventive circuit 500 usefulfor understanding how to obtain the motional current i_(M) of atransducer 400. The circuit 500 has all of the circuit elements of thetransducer 400 plus an additional bridging capacitive element C_(B) inparallel with the transducer 400 of FIG. 4. However, the value of C_(B)is selected so that C₁/C_(B) is equal to a given ratio r. Forefficiency, the chosen value for C_(B) should be relatively low. Thislimits the current that is diverted from i_(M). A variable power sourceV_(T) is applied across the terminals 502 and 504 of the circuit 500,creating a current i_(B) through the capacitive element C_(B), a currenti_(T) flowing into the transducer 400, a current i_(C) flowing throughcapacitor C₁, and, finally, the motional current i_(M). It then followsthat i_(M)=i_(T)−r*i_(B). This is because:

$i_{B} = {{C_{B} \cdot \frac{\;^{\partial}V_{T}}{\partial_{t}}} = {\frac{C_{1}}{r} \cdot \frac{\;^{\partial}V_{T}}{\partial_{t}}}}$and $i_{c} = {C_{i} \cdot \frac{{}_{}^{}{}_{}^{}}{\partial_{t}}}$

Therefore, i_(C)=r*i_(B) and, substituting for i_(C) in the equationi_(M)=i_(T)−i_(C), leads to

i _(M) =i _(T) −r*i _(B).

By knowing only the total current and measuring the current through thebridge capacitor i_(B), variations of the transducer's motional currenti_(M) can be identified and regulated. The driver circuit 308, then,acts as a current controller and regulates the motional current i_(M) byvarying an output of the transformer 310 based on the product of thecurrent flowing through the bridge capacitance C_(B) multiplied by theratio r subtracted from a total current i_(T) flowing into thetransducer 400. This regulation maintains a substantially constant rateof movement of the cutting blade 318 portion of the waveguide 320 acrossa variety of cutting loads. In one embodiment, the sensing circuits 314measure the motional voltage and/or motional current. Current andvoltage measuring devices and circuit configurations for creatingvoltage meters and current meters are well known in the art. Values ofcurrent and voltage can be determined by any way now known or laterdeveloped, without limitation.

FIG. 6 shows another embodiment of the present disclosure, where thetransducer 316 is schematically represented as a parallel configurationof a resistive element R, an inductive element L, and a capacitiveelement C₄. An additional capacitive element C₃ is in a seriesconfiguration between an input 502 and the parallel configuration of theresistive element R, the inductive element L, and the capacitive elementC₄. This parallel representation models the action of the transducer inthe “antiresonant” mode of operation, which occurs at a slightlydifferent frequency. A transducer voltage V_(T) is applied between theinput terminals 502, 504 of the transducer 316. The transducer voltageV_(T) is split between a voltage V_(C) across capacitive element C₃ anda motional voltage V_(M) across the parallel configuration of theresistive element R, the inductive element L, and the capacitive elementC₄. It is the motional voltage V_(M) that performs the work and causesthe waveguide 320 to move. Therefore, in this exemplary embodiment, itis the motional voltage that should be carefully regulated.

FIG. 7 shows an exemplary embodiment of an inventive circuitconfiguration 700. The circuit configuration 1000 includes thetransducer 600 of FIG. 6 and adds to it three additional capacitiveelements C₅, C₆, and C₇. Capacitive element C₅ is in series with thetransducer circuit 600 while the capacitive elements C₆ and C₇ are inseries with one another and, together, are in parallel with the seriescombination of the capacitive element C₅ and the transducer circuit 600.

This circuit is analogous to a Wheatstone bridge measuring instrument.Wheatstone bridge circuits are used to measure an unknown electricalresistance by balancing two legs of a bridge circuit, one leg of whichincludes the unknown component. In the instant circuit configurationshown in FIG. 10, a motional voltage V_(M), which equals V_(T)−V_(C), isthe unknown. By determining and regulating the motional voltage V_(M),the configuration allows a consistent waveguide movement to bemaintained as set forth below.

Advantageously, the capacitive element C₇ is selected so that its valueis a ratio A of capacitive element C₃, with A being less than one.Likewise, the capacitive element C₆ is selected so that its value is thesame ratio A of the capacitive element C₅. The ratio of C₅/C₃ is alsothe ratio A.

Because the ratio of C₃/C₇ is A and the ratio of C₅/C₆ is also A, thebridge is balanced. It then follows that the feedback voltage V_(fb),divided by the motional voltage V_(M), is also the ratio A. Therefore,V_(M) can be represented as simply A*V_(fb).

If the voltage across the transducer 600 is still V_(T), an inputvoltage V in equals V_(T) plus the voltage V_(B) across the capacitiveelement C₅. The feedback voltage V_(fb) is measured from a first pointlocated between capacitive elements C₆ and C₇ and a second point locatedbetween the transducer and the capacitive element C₅. Now, the upstreamcomponents of the circuit 300 act as a voltage controller and vary thepower V_(in) to maintain a constant feedback voltage V_(fb), resultingin a substantially constant motional voltage and maintaining asubstantially constant rate of movement of the cutting blade 318 portionof the waveguide 320 across a variety of cutting loads. Again, thepresent disclosure is not simply regulating the input voltage V_(in), itis varying the input voltage V_(in), for the purpose of regulating themotional voltage V_(M).

FIG. 8 shows another embodiment of the present disclosure where thetransducer 400 is of the circuit configuration shown in FIG. 4. Theconfiguration of FIG. 8 works similarly to that shown in FIG. 5 and asdescribed above. However, in this circuit configuration 800, a pair oftransformers 804 and 808 is used to determine and monitor the motionalvoltage V_(M). In this embodiment, a primary winding 802 of the firsttransformer 804 is in a series configuration with a bridge capacitorC_(B). Similarly, a primary winding 806 of the second transformer 808 isin a series configuration with the transducer 400. The leads 810 and 812of the secondary winding 814 of the first transformer 804 are coupledthrough a resistor R₂. The leads 816 and 818 of the secondary winding820 of the second transformer 808 are coupled through a resistor R₁. Inaddition, the first lead 810 of the secondary winding 814 of the firsttransformer 804 is directly connected to the first lead 86 of thesecondary winding 820 of the second transformer 808.

Current i_(B) passing through the primary winding 802 of the firsttransformer 804 induces a current in the secondary winding 814 of thefirst transformer 804. Similarly, the currents including i_(C) passingthrough the capacitive element C₁ of the transducer 400 and the motionalcurrent i_(m) of the transducer 400 combine and go through the primarywinding 806 of the second transformer 808 to find ground 822. Thecurrent in the primary winding 806 induces a current on the secondarywinding 820. As noted by the dots (“”) on the transformers 804, 808,the secondary windings 814 and 820 are in opposite directions from oneanother, with reference to the primary windings 802, 806, respectively,and induce a voltage V_(fb) across resistors R₁ and R₂. By selectingvalues for R₁ and R₂ so that a ratio of R₁/R₂ is equal to the ratio ofthe values C_(B)/C₁, the feedback voltage V_(fb) will always beproportional to the motional current i_(M). Now, the upstream componentsof the circuit 300 (see FIG. 3) act as a voltage controller and vary theinput power (V_(in) and I_(T)) to maintain a constant feedback voltageV_(fb), resulting in a substantially constant motional current i_(M) andmaintaining a substantially constant rate of movement of the cuttingblade portion of the waveguide 320 across a variety of cutting loads.Again, this embodiment is not simply regulating the input voltageV_(in), it is varying the input current I_(T) for the purpose ofregulating the motional current i_(M).

FIG. 9 shows another embodiment of the present disclosure where thetransducer 600 is modeled by the circuit configuration shown in FIG. 6.In the configuration 900 of FIG. 9, a transformer 910 is used todetermine and monitor the motional voltage V_(M) of the transducer 600.In this embodiment, a primary winding 906 of the transformer 910 is in aseries circuit configuration with an inductive element L₂ and acapacitive element C_(I). A voltage V_(in) is applied across input leads902 and 904 of the circuit formed by the primary winding 906 of thetransformer 910, the inductive element L₂, and the capacitive elementC₁. A current through the primary winding 906 induces a correspondingcurrent in the secondary winding 908 of the transformer 910. Thesecondary winding 908 of the transformer 910 is in a parallelconfiguration with a combination of the transducer 600 and a bridgecapacitor C_(B). The two components forming the combination are in aseries configuration.

In this embodiment, the secondary winding 908 is tapped at a point 912.By tapping the secondary winding 908 at a point where a first portion ofthe secondary winding 908 has “m” turns and a second portion of thesecondary winding 1208 has “n” turns (where n is less than m), aselectable percentage of the induced voltage on the secondary winding908 appears from point 912 to ground 914.

Again, this circuit is analogous to a Wheatstone bridge measuringinstrument. One leg is the first secondary winding “m,” the second legis the second secondary winding “n,” the third leg is the transducer600, and the fourth leg is the capacitor C_(B). In the instant circuitconfiguration shown in FIG. 9, the voltage V_(M) is the unknown. Bydetermining and regulating the motional voltage V_(M), a consistentwaveguide movement is maintained.

By selecting a value of the bridge capacitor C_(B) to be less than thetransducer capacitance C₃ by the same percentage that the number ofturns “n” is less than the number of turns “m” (i.e., min=C₃/C_(B)), thevalue of a feedback voltage V_(fb) will reflect the motional voltageV_(M). The disclosure can determine whether the motional voltage V_(M)is changing by monitoring the feedback voltage V_(fb) for changes.

By using the equivalent-circuit transducer model 600, which models aparallel-resonant (or “anti-resonant”) transducer, the transducer may bedriven in the parallel resonant mode of operation, where motion isproportional to voltage. The advantage of this mode of operation is thatthe required constant-voltage-mode power supply is simpler to design andsafer to operate than a constant-current-mode power supply. Also,because the transducer has a higher impedance when unloaded (rather thana lower impedance when unloaded in the series-resonant mode ofoperation), it naturally tends to draw less power when unloaded. Theparallel-resonant mode of operation, however, is more difficult tomaintain because the resonant bandwidth is narrower than that of theseries-resonant mode and it has a slightly different natural resonantfrequency, hence, the mechanical components of the device must bespecifically configured to operate at either the series resonant orparallel-resonant mode of operation.

Now, the upstream components of the circuit 300 act as a voltagecontroller and vary the power V_(in) to maintain a constant feedbackvoltage V_(fb), resulting in a substantially constant motional voltageV_(M) and maintaining a substantially constant rate of movement of thecutting blade 318 portion of the waveguide 320 across a variety ofcutting loads. Again, the present disclosure is not simply regulatingthe input voltage V_(in), it is varying the input voltage V_(in) for thepurpose of regulating the motional voltage V_(M).

FIG. 10 depicts a control system 1000 that may be particularly usefulwhen employed in an untethered ultrasonic surgical device 250 as shownin FIG. 2A, however, it may also be employed in more traditional cordeddevices as shown in FIGS. 1 and 2. As shown in FIG. 10, in addition to atransducer 1018 the TAG 256 (of FIG. 2A) includes a Direct DigitalSynthesis (“DDS”) 1002 integrated circuit, the TAG microcontroller 1004,an amplifier/filter circuit 1006, and a motional bridge 1008. The TAGmicrocontroller 1004 includes a main processor 1010, a control lawaccelerator 1012 (“CLA”), a pulse width modulator 1014 (“PWM”), and ananalog-to-digital converter 1016 (“ADC”). The TAG microcontroller 1004controls the frequency of the high voltage AC signal applied to theultrasonic transducer 1018 to cause the ultrasonic transducer 1018 tovibrate at its resonant frequency. The TAG microcontroller 1004 controlsthe frequency of the high voltage AC signal using a phase lock loop 1020(PLL) that is implemented by the DDS 1002, main processor 1010, CLA1012, and the PWM 1014.

During normal operation, the PLL 1020 adjusts the frequency of the drivesignal based on the phase of the motional feedback signal V_(fb). Toadjust the frequency of the drive signal, the main processor 1010executes a PID control algorithm to determine frequency data based onthe phase of the motional feedback signal V_(fb). The main processor1010 transmits the frequency data to the DDS 1002, which generates aclock signal having a frequency defined by the frequency data. The PWM1014 receives the clock signal and generates a drive signal having afrequency that is in a predetermined and fixed relationship with thefrequency of the clock signal generated by the DDS 1002. As will beunderstood by those of skill in the relevant art, at resonance, thedrive signal is in phase with the motional feedback signal V_(fb).

An Amplifier/Filter circuit 1006 combines the drive signal with theregulated current from the battery 252 to produce a high voltage ACsignal having a frequency equal to the frequency of the drive signal.The high voltage AC signal is then applied to the ultrasonic transducer1018. A motional bridge 1008 measures the mechanical motion of theultrasonic transducer 1018 and provides a motional feedback signalrepresenting the mechanical motion of the ultrasonic transducer. The ADC1016 samples the motional feedback signal and the CLA performs aDiscrete Fourier Transform (DFT) on the sampled motional feedback signalto obtain phase information of the motional feedback signal withreference to the drive signal. Using the motional feedback V_(fb), thePLL 1020 adjusts the frequency of the drive signal based on the phase ofthe motional feedback signal to achieve and maintain resonance of theultrasonic transducer.

The TAG microcontroller 1004 includes an external clock input 1022 whichenables the DDS 1002 to input the clock signal it generates into themicrocontroller 1004. The TAG microcontroller 1004 also includes aninternal clock 1024, and a switch 1026 that switches the system clockbetween the external clock input 1022 and the internal clock 1024. Asshown in FIG. 10, the system clock drives the main processor 1010, theCLA 1012, and the ADC 1016. During startup, the internal clock 1024generates the system clock signal. After the DDS 1002 starts generatinga clock signal, the TAG microcontroller switches the system clock fromthe internal clock 1024 to the clock signal generated by the DDS 1002and fed to the external clock input 1022.

In each of the circuit configurations described and shown in FIGS. 4-9,circuit component degradation can impact negatively the entire circuit'sperformance. One factor that directly affects component performance isheat. For this reason, the circuit depicted in FIG. 3 includes a sensingcircuit 314 which senses the temperature of the transformer 310. Thistemperature sensing is advantageous as transformer 310 may be run at orvery close to its maximum temperature during use of the device.Additional heat will cause the core material, e.g., the ferrite, tobreak down and permanent damage can occur. If a predetermined maximumtemperature is reached the circuit 300 can, for example, reduce thedriving power in the transformer 310, signal the user, turn the poweroff completely, pulse the power, or engage in other appropriateresponses.

Referring back to FIG. 1, in one embodiment, the processor 302 iscommunicatively coupled to the end effector 117, which is used to placematerial in physical contact with the blade 118. The end effector 117has a range of clamping force values and the processor 302 (FIG. 3)varies the motional voltage V_(M) based upon the received clamping forcevalue. Because high force values combined with a set motional rate canresult in high blade temperatures, a temperature sensor 322 can becommunicatively coupled to the processor 302, where the processor 302 isoperable to receive and interpret a signal indicating a currenttemperature of the blade 318 from the temperature sensor 322 anddetermine a target frequency of blade movement based upon the receivedtemperature.

According to an embodiment of the present disclosure, the PLL (308 or1020), is able to determine a frequency of transducer 316, 1018. Theknown resonant frequency of the transducer 316, 1018 (and therewith theresonant frequency of the waveguide and blade) at any particular timecan be utilized for purposes beyond merely tuning and maintaining theoperation of the device at resonance. One such purpose is for detectingtemperature of the blade 118.

FIGS. 11 and 12 are Bode plots of an ultrasonic surgical instrument,according to any of the embodiments of the present disclosure. As notedabove, during use of an ultrasonic surgical instrument heat isgenerated. The resonant frequency of a harmonic system depends on avariety of factors including material density, material bulk or Young'smodulus, the speed of sound, the diameter of the components, and otherfactors. Many of these factors are temperature dependent and can varysignificantly when the system is heated. The composite result of thesechanging factors is observable by monitoring the resonant frequency ofthe system as it heats, for example during use of an ultrasonic surgicalinstrument.

FIG. 11 depicts the frequency response caused by the generation of heaton the resonant frequency of the oscillating structure (i.e. transducer1018, waveguide 114, and blade 118). At room temperatures, for example23° C., one desirable resonant frequency for the system may be about55.5 kHz. This is noted on the plot in FIG. 11 at the zero crossingindicating 0° of phase shift from the drive signal. As can be seen inthe plot of FIG. 11, when the temperature of the system increases, as isexpected during operation, the resonant frequency shifts. Specifically,as shown in FIG. 11, when the resonant frequency drops approximately 300Hz from 55.5 kHz to 55.2 kHz a temperature increase from 23° C. to 200°C. is observed. A similar shift in frequency is observable in the plotof FIG. 12, where the amplitude of the impedance Z of the system ismonitored. Again the minimum impedance amplitude Z, which indicates thatthe system is operating at resonance, shifts from approximately 55.5 kHzto approximately 55.2 kHz.

By monitoring the change in resonant frequency of the system plottedagainst phase or impedance amplitude, the temperature of the system canthen be estimated. For example, as shown in FIG. 11 a frequency shift of300 Hz for that system represents a change in temperature from about 23°C. to about 200° C. Thus, by observing the resonant frequency of thesystem at room temperature and then tracking the resonant frequency ofthe system as it's used, the temperature of the oscillating structurecan be estimated. This can then be accomplished without any separateelement specifically intended for temperature sensing, but rather justby monitoring the system feedback during use. As noted above, withrespect to FIGS. 4-9 the resonant frequency can be determined monitoringV_(fb) which is representative of the motional voltage, and can becompared to the drive signal to ascertain phase and frequencyinformation. However, it is also possible to monitor the impedance, asplotted in FIG. 12 to derive the resonant frequency information withoutdeparting from the scope of the present disclosure.

In one embodiment of the present disclosure, the ultrasonic surgicalinstrument 250 is tested for its room temperature resonance frequencyduring manufacture and this value is stored in a memory accessible bythe microprocessor or microcontroller. Once the ultrasonic surgicalinstrument is put into use, i.e., the transducer is energized and beginsto oscillate, the resonance frequency of the ultrasonic surgicalinstrument 250 is measured periodically, for example every 5 ms. Basedon the instantaneous resonant frequency, a calculation can be performedto determine the temperature of the oscillating structure (i.e.,transducer 1018, waveguide 114, and blade 118).

Alternatively, because most ultrasonic surgical instruments 250 employone or more replaceable components, part of the start-up routine of theultrasonic surgical instrument 250 could include a brief energization todetermine its resonant frequency as assembled by the physician. Forexample, in the device shown in FIG. 2A both the TAG 256 and the battery252 are reusable, while the remainder of the ultrasonic surgicalinstrument 250, including the cannula 120, waveguide 114, and blade 118,are disposable components. Thus, in such a device it is impractical tomeasure the resonant frequency of the system until the disposableportion is connected to the system, particularly the TAG 256.Accordingly, a test to determine the resonant frequency of the assembleddevice could be undertaken prior to its first use of the ultrasonicsurgical instrument 250. This test may be user initiated, or could beautomatically run upon assembly of the device as part of the surgicalinstrument's test routine before allowing use. The resonant frequency asdetermined by the test should be stored in the memory of the ultrasonicsurgical instrument 250. The stored room temperature resonant frequencymay be set each time the ultrasonic surgical instrument is assembled,thus each time the TAG 256 is mated with a new disposable portion of theultrasonic surgical instrument 250, the routine is performed and the newresonant frequency overwrites any existing resonant frequency dataalready stored in memory.

Alternatively, though likely to incur some loss in accuracy, theresonant frequency could be stored in a memory in the TAG 256 upon theTAG's first assembly with the battery 252 and a disposable portion toform the ultrasonic surgical instrument 250. This one time determinedresonant frequency could then be used as the basis for all futureresonant frequency comparisons to determine the temperature of anultrasonic surgical instrument 250 into which that TAG 256 has beenconnected.

FIG. 13 is a simplified flow chart depicting a computer program storablein the memory of an ultrasonic surgical device of a start-up routine fordetermining a room temperature resonant frequency for an ultrasonicsurgical instrument, such as that depicted in FIG. 2A. Once the TAG 256is connected to the remainder of the ultrasonic surgical instrument 250,and the battery 252 is connected, a start-up routine is enabled at stepS101. As part of the start-up routine the resonant frequency test isbegun at S103. The transducer is driven for a predetermined period oftime at S105. The period of time the transducer is driven should besufficient to determine the resonant frequency of the ultrasonicsurgical instrument 250 at room temperature as assembled S107. If theresonance frequency is determined, that frequency is stored in memoryS109 and the resonant frequency test is ended S111 and the ultrasonicsurgical device 250 is enabled for operation. If resonance is notachieved, the routine at step S113 may check to determine how manyattempts at achieving resonance have been undertaken, for example fiveattempts may be permitted. If more than five attempts have been madewithout achieving resonance then an error is signaled at S115. If thenumber of available attempts has not exceeded the maximum then theroutine loops back to step S105 and attempts to achieve resonance againuntil either resonance is achieved and the frequency value can be storedin memory of the available attempts is exceeded and an error isproduced.

FIG. 14 is a simplified flow chart depicting a computer program storablein the memory of an ultrasonic surgical device for determining thetemperature of the system (transducer, waveguide, and blade). Those ofskill in the art will recognize that this process may be employedregardless of how that initial room temperature resonant frequency isdetermined, whether it is written into memory during manufacture of theTAG 256, determined at the first use of the TAG 256, or determined aneweach time the TAG 256 is connected to the remainder of the ultrasonicsurgical device 250.

In FIG. 14, the trigger 258 of the ultrasonic surgical instrument 250 ispulled in step S201. Next a check of resonance is undertaken at stepS203. One of skill in the art will understand that it may be desirableto insert a delay between steps S201 and S203 to allow the ultrasonicsurgical device 250 opportunity to achieve resonance. If resonance isachieved, the value of the frequency at resonance is written to memoryin the device at step S205. Next a comparison is made of the instantresonant frequency to the room temperature resonant frequency at stepS207. If the frequency shift or response is less than a predeterminedamount Y in step S209, the routine looks to see if the trigger is stilldepressed in step S211. If the trigger is no longer depressed theroutine is ended at step S213. If, however, the trigger is stilldepressed a new instant resonance frequency is detected at step S215.The detection step in S215 may be following a set delay. The newlydetected resonance frequency is then written to memory in step S205. Insome embodiments only one value of instant resonance frequency isretained in memory to compare with the room temperature resonancefrequency. In other embodiments a log of resonance frequencies can bestored in memory. This historical record may be useful in reviewinghistorical use of a device in the event of a failure or other incidentrequiring analysis of device use.

At step 209, if the frequency shift is greater than a predeterminedamount, for example 300 Hz, then a signal may be sent to the user toindicate that the ultrasonic surgical device 250 is estimated to beabove a certain temperature, for example 200° C. The alert to the usermay be an audible tone, a light indicator such as an LED on the device,or a tactile response that is felt by the user in the handle of theultrasonic surgical instrument 250.

Optionally, the ultrasonic surgical instrument may automatically switchoff at step S223 based on achieving this temperature or an interlockS225 may prevent energization of the ultrasonic surgical instrument fora period of time (Y see), for example 15 seconds to allow the ultrasonicsurgical device 250, and particularly the blade 118 to cool, after whichperiod the trigger 258 may be re-pulled at step S201.

Similarly, at step S203 if resonance has not yet been achieved, a delayX (for example 5 ms) is triggered at step S219, after which at step S221an inquiry is made to determine whether too much time has passed sincethe initial trigger 258 pull and achieving resonance. If too much timehas passed then the device may be turned off and an error signaled atstep S223.

Those of skill in the art will recognize that in addition to having asingle frequency shift at which a high temperature signal is generated,the memory may store a series of frequency shifts and can generate aprogressive signal of temperature to the user. For example, if thefrequency shift is 100 Hz the device may generate a green visual signalto indicate that the temperature increase is not great, perhaps only to70° C. Similarly, a yellow visual signal could be used to indicate a 200Hz resonant frequency shift, indicative of perhaps a temperature of 130°C.

Alternatively, an empirical formula may be employed and stored in memoryof the ultrasonic surgical device for converting a sensed frequencyresponse into an estimated temperature. Thus, when the instantaneousresonant frequency is detected, the formula, which may include the roomtemperature resonant frequency and/or a weighted frequency response totemperature comparison function, is utilized to estimate a temperaturechange equivalent to the frequency response. This can again be tied tovisual, audible or other signaling means. In such a situation it wouldbe possible to present the estimated temperature value to the user via adisplay or, for example, a liquid-crystal display (LCD).

An exemplary formula is:

$T_{Est} = {T_{Room} + \frac{{\left( {F_{Room} - F_{Inst}} \right) \cdot 180}\mspace{11mu} C}{300\mspace{14mu} {Hz}}}$

where T is temperature, F is frequency, and Room represents the valuesmeasured at start-up, and Inst. is the instantaneous measurement. Thusby using the instantaneous frequency of the blade and calculating anestimated temperature the ultrasonic surgical instrument can becontrolled by the microcontroller in the generator to warn the surgeonthat the tip is warm or hot, as described above.

FIG. 15 depicts an enlarged view of a blade 118 and the distal end ofthe waveguide 114 of the ultrasonic surgical instruments shown in FIGS.1, 2 and 2A. Imbedded within the blade 118 is an ultrasonic resonator150. The ultrasonic resonator 150 may be formed of a piezo-electriccrystal of the type described above, however, rather than takingelectrical energy and converting it to mechanical motion, the resonator150 (e.g., an accelerometer), takes the applied mechanical force andconverts it to an electrical signal that is sent to the microprocessor302 or microcontroller 1004 via lead 152 for analysis.

In one embodiment an ultrasonic resonator 150 is placed in the blade 118of the ultrasonic surgical instrument 250. The ultrasonic resonator 150is sized such that it has a resonant frequency far removed from that ofthe ultrasonic surgical instrument 256 (e.g., TAG 256, waveguide 114,and blade 118). For example, if the ultrasonic surgical instrument 250has a room temperature resonant frequency of 55.5 kHz, and theultrasonic resonator 150 may have a room temperature resonant frequencyof 101.7 kHz or about 100 kHz. However, the resonant frequency of theresonator 150 may be even further removed from that of the ultrasonicsurgical instrument 250, it may be for example 800 kHz or otherfrequencies outside the operating range of the ultrasonic surgicalinstrument 250.

In operation, the mechanical motion of the blade 118 imparts mechanicalforce on the ultrasonic resonator 150. This mechanical motion isconverted by the resonator 150 into an electrical signal. The greaterthe mechanical force the greater the electrical signal that is produced.As a result of the electrical signal being dependent upon the forceapplied, the greatest electrical signal will be generated at anti-nodesof the ultrasonic surgical instrument 250, where the amplitude of theharmonic oscillation is greatest. As explained above the blade 118 ismost effectively located at an anti-node so that the maximum amplitudeof mechanical motion can be imparted on the tissue. Thus, though aresonator 150 can be located at any location along waveguide 114 andblade 118, it is more effective to place them in proximity of theanti-nodes, or at least removed from the nodes which have little to nomovement.

When the blade 118 heats up during use the resonator 150 will also heatup. This heating of the resonator 150 will have an effect on electricalsignal generated. As the blade 118 is heated its resonant frequencyshifts, so too the resonant frequency of the resonator 150 shifts andtherewith the components of the electrical signal (e.g., frequency andvoltage) generated by the resonator 150 and transmitted to themicroprocessor 302 or microcontroller 1004. Because the resonator 150 isreasonably isolated from the other components of the ultrasonic surgicaldevice 250, the primary cause of the change in resonant frequency andtherewith the electrical signal generated by the resonator is theincrease in temperature caused by the heating of the blade 118.

As with the monitoring of the resonant frequency described above withrespect to FIGS. 11-14, the resonant frequency of the resonator 150 maybe stored in the memory of the ultrasonic surgical device 250 duringmanufacture. Similarly, during start-up the properties of the electricalsignal (e.g., frequency and voltage) produced by the resonator 150 whenthe ultrasonic surgical device 250 achieves resonance at roomtemperature may be determined and stored in memory. The electricalsignal produced by the resonator 150 at room temperature resonance maythen be compared to the electrical signal produced by the resonator 150as the resonant frequency of the ultrasonic surgical device 250 shiftsduring use due to its heating. By comparing the room temperatureelectrical signal values with values sensed during operation, thetemperature of the resonator 150 at any point in time may be determinedeither through the use of an empirical formula, by using a look-uptable, as described herein with respect to detecting the temperature ofthe entire oscillatory structure with reference to FIG. 14, or by othermeans known to those of skill in the art.

By placing multiple resonators 150 along the waveguide 114 and blade118, it is possible to determine which components of the ultrasonicsurgical instrument 250 are heating and to what extent they are heatingby comparing the signals produced by each of the resonators 150. In thisway the ultrasonic surgical instrument 250, and particularly themicroprocessor 302 or 1004, can discern that though there has been afrequency shift of 300 Hz of the entire ultrasonic system (e.g., TAG256, waveguide 114, and blade 118) because only the electrical signalgenerated by the resonator 150 located in the blade 118, for example,has changed as compared to its electrical signal produced as roomtemperature resonance, it is only the blade 118 that has undergonesignificant heating. Thus multiple resonators 150 allows for atemperature gradient along the oscillating structure to be ascertained.Alternatively, if resonators 150 on both the blade 118 and the waveguide118 show a change in electrical signal, the ultrasonic surgicalinstrument 250 can determine that most if not all of the oscillatingstructure has experienced heating.

In an alternative embodiment, the resonators 150 are driven by aseparate signal generator. Thus for example, a drive signal at 101.7 kHzis applied to the one or more resonators 150 and the return signal ofeach resonator is monitored to maintain oscillation of the resonators150 at resonance. As the individual components of the ultrasonicsurgical instrument 250 heat up, the resonant frequency of eachresonator 150 will change independent of the temperature of thatspecific resonator 150. The frequency shift of each individual resonator150 can be compared to the original 101.7 kHz to determine thetemperature of each resonator in the same manner as described above withrespect to detection of the temperature of the overall system in FIGS.13 and 14. In this manner, additional information can be provided to theuser such that the surgeon is signaled when only a single component isachieving high temperatures (e.g., the blade 118), or whether the entiresystem (e.g., TAG 256, waveguide 114 and blade 118) is heating.

As with the implementation described above with respect to FIGS. 13 and14, various indicators can be provided to the user including visual andaudible, as well as interlocks that prevent the use of the ultrasonicsurgical instrument 250 for a predetermined time, or until the sensedtemperature of the component or system has returned to an acceptablelevel.

Alternatively, the resonators 150 could be simple metal protrusions (notshown) extending from the blade 118. Each metal protrusion has aspecific resonant frequency different from the rest of the blade 118.The resonant frequency of the protrusion will depend upon the mass,length, material and other factors known to those of skill in the art.Using a Fourier Transform, either a DFT as described above or a Fast

Fourier Transform, focus on the known peaks of the resonators 150 (i.e.,their resonant frequency) can be undertaken, much in the way that theresonant frequency of the blade is considered. By focusing on changes ator around the resonant frequencies of the resonators 150, changes intemperature of the resonators 150 can be determined in much the same wayas described above.

FIGS. 16 and 17 are additional Bode plots depicting the quality or Q ofthe ultrasonic surgical instrument 250 and comparing the Q whenoperating at resonance when just in air and when touching tissue. Q is ameasure of the quality of the resonance of a system. High qualityresonance (high Q) will have a peaked shape, whereas a lower qualityresonance (low Q) will have a smaller overall response and a less peakedplot.

As can be seen in both FIGS. 16 and 17, the Q of a resonant structuresuch as the ultrasonic surgical instrument 250 varies greatly whenoperating in just air or when in contact with tissue. In fact, the Qwill vary depending on a variety of factors regarding the tissue. Forexample the Q will be different for wet as compared to dry tissue; stiffstructures such as bone create a different Q that softer structures suchas blood vessels and connective tissue. Even clamping pressure appliedto the blade can affect the Q, resulting in a lower Q when clampingpressure is high. Similarly, Q is affected not just by contacting tissueat the end effector 117, but any tissue contact along the length of theresonant structure (e.g., transducer, waveguide and blade) device canchange Q. Moreover, contact at nodes has a different effect than contactat an anti-node.

Q may be calculated using the following formula:

${Q = {\frac{fr}{\Delta \; f} = \frac{\omega_{r}}{\Delta\omega}}},$

where f_(r) is the resonant frequency, Δf is the bandwidth,ω_(r)=2πf_(r) is the angular resonant frequency, and Δω is the angularbandwidth. More generally and in the context of reactive componentspecification (especially inductors), the frequency-dependent definitionof Q is used which is as follows:

${Q\; \omega} = {\omega \cdot {\frac{{Max}.{EnergyStored}}{PowerLoss}.}}$

Thus Q may be derived from a plot by measuring the resonant frequencyand comparing that plot to the bandwidth at half the energy maximum. Qessentially describes the “peakiness” of the plot. It also can bethought of as how much energy is being dissipated compared to how muchis stored in the waveguide. In air an ultrasonic waveguide has a veryhigh Q because almost none of the energy is being dissipated into theair and it is all being stored in the waveguide. When the waveguidetouches tissue, the energy dissipates into the tissue, and significantlylowers the Q value meaning that the observed the bandwidth is much widerfor a similar resonant frequency. If the waveguide touches metal orwater, the Q will also be different depending on how well the waveguidedissipates energy into the metal or water. The more energy dissipatedthe lower the Q.

In one embodiment of the present disclosure, a variety of Q values areempirically derived and stored in memory of the ultrasonic surgicalinstrument 250. As the ultrasonic surgical instrument 250 is energizedperiodic measurement of Q can be undertaken and compared to the valuesstored in memory. By comparing the measured value to a stored value asignal can be provided to the user regarding the type of material in theend effector 117 at any one time. This may be useful for example toalert the user that there is bone within the end effector 117, or thattoo much clamping pressure is being applied for the tissue in question,or that a the blade 118 or the waveguide 114 is in contact with metal,from for example another surgical implement or an implant within thepatient, or that the waveguide, which may be hot, is in contact withtissue somewhere along its length. Further, the Q value could indicateto the surgeon that the blade 118 is contacting other parts of the endeffector (which will be quite stiff) and that such continued contactcould damage the ultrasonic surgical instrument 250.

In a further embodiment, the ultrasonic surgical instrument 250 canderive the Q value of the specific tissue grasped within the endeffector 117 and adjust the power and drive signal parameters toeffectuate better tissue effect. This may be accomplished by consideringthe Q value of the plot in FIG. 17, where impedance is plotted againstthe resonant frequency, which indicates the load applied to the blade118.

In yet a further embodiment, the ultrasonic surgical instrument 250 canmonitor the Q value to determine when it changes and upon such a changealter the application of energy (e.g., stop the application of energy)and therewith alter the motion of the blade 118. This may be useful forexample in instances where there are layers of tissue having differentproperties, for example in intestinal surgeries such as enterotomieswhere it is desirable to cut a first layer of tissue but not cut asecond layer of tissue. In such instances, after the initial grasping ofthe end effector 117 and the application of ultrasonic energy a first Qvalue can be determined, and then the Q value may be monitored until achange in Q value for the tissue is detected. In some instances thechange must be greater than a pre-set amount or percentage, or in otherinstances any change could result in a stopping of the procedure toprevent the end effector from treating the underlying tissue.Regardless, upon the desired change in Q value the energy applied to theultrasonic surgical device is altered (e.g., stopped) to prevent furthercutting or treatment of tissue.

Although the monitoring of the Q value is described in detail herein,the monitoring and adjusting of the operation of an ultrasonic surgicalinstrument is not limited to the Q value. Instead other characteristicsof the signals that contain information regarding a material in contactwith a blade may also be monitored and the energy applied to the bladeadjusted in a similar fashion as described herein upon detecting changesand thresholds of that characteristic as described herein with respectto Q values.

In all of the embodiments described herein, the data collected (e.g.,resonant frequency data) the calculations made (e.g., temperature or Qvalue), and other parameters relating to the ultrasonic surgicalinstrument 250 may be stored locally within a memory such as a EEPROM orother data storage device housed for example within the TAG 256. Thisdata may also be downloadable from the memory such that it can be lateranalyzed in the event a concern is raised regarding the use of the TAG256 or other elements of the ultrasonic surgical instrument 250.

Further, although several of the embodiments herein were describedspecifically with reference to the ultrasonic surgical instrument 250depicted in FIG. 2A these concepts and control features are equallyusable in other ultrasonic surgical systems including, but not limitedto, those shown in FIGS. 1, 2 and 3 and described in detail asultrasonic surgical instrument 300, herein.

Although specific embodiments of the present disclosure have beendisclosed, those having ordinary skill in the art will understand thatchanges may be made to the specific embodiments without departing fromthe spirit and scope of the disclosure. The scope of the disclosure isnot to be restricted, therefore, to the specific embodiments, and it isintended that the appended claims cover any and all such applications,modifications, and embodiments within the scope of the presentdisclosure.

From the foregoing, and with reference to the various figure drawings,those skilled in the art will appreciate that certain modifications mayalso be made to the present disclosure without departing from the scopeof the same. While several embodiments of the disclosure have been shownin the drawings and/or discussed herein, it is not intended that thedisclosure be limited thereto, as it is intended that the disclosure beas broad in scope as the art will allow and that the specification beread likewise. Therefore, the above description should not be construedas limiting, but merely as exemplifications of particular embodiments.Those skilled in the art will envision other modifications within thescope and spirit of the claims appended hereto.

What is claimed is:
 1. An ultrasonic surgical apparatus comprising: a signal generator outputting a drive signal having a frequency; an oscillating structure, receiving the drive signal and oscillating at the frequency of the drive signal; a bridge circuit, detecting the mechanical motion of the oscillating structure and outputting a signal representative of the mechanical motion; a microcontroller receiving the signal output by the bridge circuit, the microcontroller determining an instantaneous frequency at which the oscillating structure is oscillating based on the received signal, and determining a frequency adjustment necessary to maintain the oscillating structure oscillating at its resonance frequency, the microcontroller further determining the quality (Q value) of the signal received from the bridge circuit and determining material type contacting the oscillating structure.
 2. The apparatus of claim 1, wherein the determined Q value is compared to Q values stored in memory to determine the material in contact with the oscillating structure.
 3. The apparatus of claim 2, wherein the Q values stored in memory distinguish between material types selected from the group consisting of wet tissue, dry tissue, dense tissue, bone, and metal objects.
 4. The apparatus of claim 2, wherein the determined Q value takes into account clamping pressure applied to the material by an end effector at the end of the oscillating structure.
 5. The apparatus of claim 2, wherein upon detecting a specific Q value the ultrasonic surgical apparatus determines that a blade portion of the ultrasonic surgical apparatus is contacting an end effector of the oscillating structure.
 6. A method of determining the determining the type of material an ultrasonic surgical apparatus is contacting comprising: generating a drive signal and supplying the drive signal to an oscillating structure; detecting the mechanical motion of the oscillating structure and generating a signal representative of the mechanical motion; processing the signal representative of the mechanical motion to determine determining an instantaneous frequency at which the oscillating structure is oscillating based on the received signal; generating a frequency adjustment necessary to maintain the oscillating structure oscillating at its resonance frequency; and determining the quality (Q value) of the signal received from the bridge circuit to identify the material contacting the oscillating structure.
 7. The method of claim 6, wherein the determined Q value is compared to Q values stored in memory to determine the material in contact with the oscillating structure.
 8. The method of claim 7, wherein the Q values stored in memory distinguish between material types selected from the group consisting of wet tissue, dry tissue, dense tissue, bone, and metal objects.
 9. The method of claim 6, wherein the determined Q value takes into account clamping pressure applied to the material by an end effector at the end of the oscillating structure.
 10. The apparatus of claim 7, wherein upon detecting a specific Q value the ultrasonic surgical apparatus determines that a blade portion of the ultrasonic surgical apparatus is contacting an end effector of the ultrasonic surgical apparatus. 